I'm putting controls on a vertical mill that will be run via EMC2. From my research I've realized that I have two choices: the PID loop can be on the DC-driver board or it can be within EMC2 with EMC2 reading the encoder and outputting a analog value.
It seems there would be less things to go wrong if PID is on the DC-driver board. On the other hand, if EMC2 does the control, reading the encoder, spitting out an appropriate DC-voltage value, EMC2 can do the tuning and could also do "multi-axis-coordination". I'm defining multi-axis coordination as optimizing a straight line when there is motion on two or more axis(there may be a more standard term for this?). This provides less aliasing (stair steps) than with direction-and-step methodology. I'm also thinking that I might later decide to add a linear encoder to the table and might want to do a nested PID (actually - just an 'I' outside loop that could actually update backlash in real-time) I am new to EMC2, but I have a background in embedded micro-controllers outside of machining and have designed and built both analog and digital temperature PID loops. Any and all feedback on this is welcome - also feel free to call (or ask me to call you).. ---------------------------------------------------------------- Karl Schmidt EMail [EMAIL PROTECTED] Transtronics, Inc. WEB http://xtronics.com 3209 West 9th Street Ph (785) 841-3089 Lawrence, KS 66049 FAX (785) 841-0434 "Give me four parameters and I can fit an elephant; Give me five and I can wag its tail." (The source of the above quote?? Variants have been attributed to C.F. Gauss, Niels Bohr, Lord Kelvin, Enrico Fermi.) ---------------------------------------------------------------- ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
